dart-python

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DART Python: dartpy bindings, nanobind, wheels, and API patterns

dartsim By dartsim schedule Updated 6/14/2026
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name: dart-python description: "DART Python: dartpy bindings, nanobind, wheels, and API patterns"

DART Python Bindings (dartpy)

Load this skill when working with Python bindings or dartpy.

Quick Start

import dartpy as dart

world = dart.World()
skel = dart.io.read_skeleton("dart://sample/urdf/KR5/KR5 sixx R650.urdf")
world.add_skeleton(skel)

for _ in range(100):
    world.step()

Full Documentation

For complete Python bindings guide: docs/onboarding/python-bindings.md

For module-specific details: python/AGENTS.md

Quick Commands

pixi run build-py-dev    # Build for development
pixi run test-py         # Run Python tests
pixi run generate-stubs  # Generate type stubs

Wheel Building

pixi run -e py314-wheel wheel-build
pixi run -e py314-wheel wheel-repair  # Linux only
pixi run -e py314-wheel wheel-test

Key Patterns

  • snake_case preferred (camelCase emits DeprecationWarning)
  • NumPy arrays auto-convert to Eigen types
  • GUI requires DART_BUILD_GUI=ON

Key Files

  • Package config: pyproject.toml
  • Build system: python/dartpy/CMakeLists.txt
  • Type stubs: python/stubs/dartpy/
Install via CLI
npx skills add https://github.com/dartsim/dart --skill dart-python
Repository Details
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navigation Branch main
article Path SKILL.md
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